Electric Power Systems Research 134 (2016) 126133

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Electric Power Systems Research

journal homepage: www.elsevier.com/locate/epsr

Fuzzy logic based speed control of indirect eld oriented controlled

Double Star Induction Motors connected in parallel to a single
six-phase inverter supply
Zoheir Tir a, , Om P. Malik b,1 , Ali M. Eltamaly c,2
a

LEVRESResearch Laboratory, Dept. of Electrical Engineering, University of El Oued, B.P.789, 39000 El Oued, Algeria
Dept of Electrical and Computer Engineering, University of Calgary, Calgary, AB, Canada
c
Dept of Electric Engineering, Mansoura University, Mansoura, Egypt
b

a r t i c l e

i n f o

Article history:
Received 5 February 2015
Received in revised form
20 December 2015
Accepted 20 January 2016
Available online 10 February 2016

a b s t r a c t
Speed control of two Double Star Induction Motors operating in parallel conguration with Indirect Field
Oriented Control using a Fuzzy Logic Controller is investigated. The two motors are connected in parallel
at the output of a single six-phase PWM based inverter fed from a DC source. Performance of the proposed
method under load disturbances is studied through simulations. A comparison of the speed response with
the two controllers is presented and analyzed.
2016 Elsevier B.V. All rights reserved.

Keywords:
Multiphase machine
Double Star Induction Motor (DSIM)
Fuzzy Logic Controller (FLC)
Indirect Field Oriented Control (IFOC)
Single six-phase inverter

1. Introduction
Use of Double Star Induction Motor (DSIM) drives, especially
for high-power applications, has increased considerably over the
past 40 years [17]. This type of machine is composed of two
windings with a 30 electrical degree phase shift. These windings
are generally fed by a six-phase inverter supply in variable speed
drives [4,5,711]. Characteristics, modeling, control and performance of DSIM are extensively covered in [13,5,6,8,9,1216]. The
main advantages of this motor are: (1) reduced torque ripple; (2)
reduced rotor harmonics as they can be ltered; (3) reduced harmonic content of the DC-link current; and (4) increased reliability
as the larger number of phases of this machine allows operation
with one or more phases in fault [17,1113,16,17]. With these
principal advantages, the drive technique with two Double Star
Induction Motors operating in parallel and fed by a single six-phase
PWM based inverter can be used in several applications especially

Corresponding author. Tel.: +00770284829.

E-mail addresses: tir-zoheir@univ-eloued.dz (Z. Tir), maliko@ucalgary.ca
(O.P. Malik), eltamaly@ksu.edu.sa (A.M. Eltamaly).
1
Tel: +1 403 220 6178.
2
Tel: +00966 14676828.
http://dx.doi.org/10.1016/j.epsr.2016.01.013
0378-7796/ 2016 Elsevier B.V. All rights reserved.

in the eld of high power electric/hybrid vehicles, rolling stock

traction systems such as locomotive and electric ship propulsion
[3,7,14,17,18]. For these applications, the parallel DSIM drive technique can reduce the duplicated components such as inverter, input
lter, protection circuit, and help to reduce the cost of the system
[1922].
In recent years, various parallel congurations have been
widely proposed for two multi-phase machines drive to feed
them from a single inverter [7,1832]. Among multi-phase
machines; ve-phase and six-phase machines are more common.
A parallel conguration to feed two ve-phase motors from a
single inverter is suggested in [18,32], and sliding mode control based speed control of two six-phase motors connected in
parallel to a single inverter supply is proposed in [7]. These
parallel congurations provide decoupled control of ux and
torque for each machine and their performance is evaluated
experimentally.
Speed control of indirect eld oriented controlled DSIMs connected in parallel to a single six-phase inverter supply using Fuzzy
Logic Control (FLC) is investigated in this paper. This system is
suitable for applications using dual DSIMs with the advantage of
compactness, lightness and economy [1921].
FLC is based on linguistic rules with an IF-THEN general conguration [33]. Its principal advantage resides in the fact that it does

Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

not need a precise mathematical model of the nonlinear dynamic

plant such as an electric machine [34]. It can also handle arbitrarily
complex nonlinearity. Moreover, it is robust and as proposed in
this paper, the fuzzy output is obtained by 4 fuzzy rules. Robustness of the proposed controller is checked in terms of DSIMs speed
and load variations connected in parallel. Speed performance of
the DSIMs with FLC is also compared with that obtained using the
commonly employed PI controller.
The paper is organized as follows. System conguration is
described in Section 2 with the model of the DSIM given in Section 3. The DSIM eld oriented control is described in Section 4 and
details of the two controllers (FLC and PI) are given in Section 5
followed by the presentation of results and discussion in Section 6.
The conclusions are drawn in Section 7.

3. Modeling of the DSIM

Electrical equations used to model each DSIM in the Park reference frame are [9]:

A schematic diagram of the Indirect Field Oriented Control

(IFOC) of dual motors connected in parallel to a single sixphase inverter supply is shown in Fig. 1. This method has been
adopted in order to avoid the over magnetization of these motors
[23]. This method is characterized by the slip angular speed
calculation, the stator ux angle calculation and the rotor angular speed calculation. Speeds of the two DSIMs are measured
using sensors. The torque reference of each DSIM is calculated
from the difference between reference speeds. FLC or PI controllers are used in the speed control loops for the DSIMs as
shown in the gure. The other blocks in the gure can be
found in the conventional eld vector control method, such as
[1].
Studies of the drive system in the PWM mode in the middle
speed region and in the single pulse mode in the high speed region
are performed. The robustness of the proposed method is checked
in terms of motor speed and load variations.

dM
ds1

M
vds1 = Rs ids1
+

M
vqs1 = Rs iqs1
+
M
vqs2 = Rs iqs2
+

M
0 = Rr iqr
+

s M
qs1

(1)

dds2
s M
qs2
dt

(2)

dt

M
vds2 = Rs ids2
+

M
0 = Rr idr
+

2. System conguration

127

dM
qs1

(3)

+ s M
ds2

(4)

(s rM ) M
qr

(5)

+ (s rM ) M
dr

(6)

dM
qs2
dt

dM
dr
dt
dM
qr
dt

+ s M
ds1

dt

where the stator and rotor ux linkages are expressed as [9]:

M
M
M
M
+ Lm ids1
+ ids2
+ idr
ds1 = Ls ids1

M

qs1 =

+ Lm

(7)


M

M
M
ds2 = Ls ids2
+ Lm ids1 + ids2
+ idr
M
Ls iqs1

M

M
iqs1 + iqs2

M

M
+ iqr

(8)

(9)


M

M
M
qs2 = Ls iqs2
+ Lm iqs1 + iqs2
+ iqr

(10)

M


M

M
M
dr = Lr idr
+ Lm ids1 + ids2
+ idr

(11)

M


M

M
M
qr = Lr iqr
+ Lm iqs1 + iqs2
+ iqr

(12)

The electromagnetic torque of each DSIM can be obtained by:

TemM = PM

Lm
Lm + Lr

 M

M
M
M
iqs1 + iqs2
M
ids1
+ ids2
M
qr
dr

Fig. 1. Block diagram of the indirect ux oriented control of DSIMs.

(13)

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Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

Note: The DSIMs control principle is similar to the well-known

rotor IFOC used for the conventional electric machines.
4.2. Control strategy
The reference voltages (vds1 , vqs1 , vds2 and vqs2 ) are derived by
substituting Eqs. (15) and (16) in Eqs. (1)(4)

vds1 = Rs ids1 + Ls



dids1

s Ls iqs1 + Tr r sl
dt

(17)

vqs1 = Rs iqs1 + Ls

diqs1
s (Ls ids1 + r )
dt

(18)

vds2 = Rs ids2 + Ls



dids2

s Ls iqs2 + Tr r sl
dt

(19)

vqs2 = Rs iqs2 + Ls

diqs2
s (Ls ids2 + r )
dt

(20)

where

The mechanical equation of each motor is expressed by:

(14)

and is2 =

Lr
Rr

M2
+ iqs2

(21)

Rr Lm
i
(Lm + Lr ) r qs

(22)

ids
=

1

Lm r

(23)

iqs
=

(Lm + Lr )
T
PLm r em

(24)

 

The dq axes currents are referred as ux-producing ids

and

 

torque-producing iqs components of the DSIMs stator currents,

respectively.
To generate the reference voltage vectors (vds1 , vqs1 , vds2 and

vqs2 ) the PI controller is introduced as shows in Fig. 3.

5. Controller design
5.1. PI controllers

M1
M2
M1
M2
is1 = is1
+ is1
, is2 = is2
+ is2
,
M2 iM1
is1
s1

Tr =

sl
=

where s is the synchronous reference frame; Ls and Lr are stator

and rotor inductances, respectively; Lm is the resultant magnetizing inductance; PM is the number of pole pairs; J is the moment of
inertia; kf is the total viscous friction coefcient; TL M is the load
torque; r M is the rotor electrical angular speed; M is the rotor
mechanical angular speed, and M denotes DSIM-1 or DSIM-2.
All these parameters are for each of the two DSIMs.
The currents, is1 and is2 , owing in each motor can be expressed
by is which ows equally in both motors, and is1 and is2 which
circulates between the two motors. Currents owing in the parallel
connected DSIMs are shown in Fig. 2 and the relationship of these
currents is given below:

is1 =

and iqs2 =

M1 + iM2 , i
M1
M2
M1
ids1 = ids1
qs1 = iqs1 + iqs1 , ids2 = ids2 +
ds1

M1
iqs2

Tr denotes the rotor time constant.

The component references of stator current and slip speed sl

can be expressed as:

Fig. 2. Current ows for parallel connected dual DSIMs.

dM
J
+ kf M = TemM TLM
dt

M2
ids2

M2 iM1
is2
s2

Each DSIM drive has two controllers: the rst is the current controller or the inner-loop controller, Fig. 4, and the second is the
speed controller or the outer-loop controller, Fig. 5.
The PI controller of the current (is ), in the inner-loop shown in
Fig. 4, is designed rst.
Transfer function of the PI controller is:

4. Dual DSIMs eld oriented control

4.1. Reference-frame

Gc (s) = KP +

By choosing the orientation of the rotor ux linkage, the electromagnetic torque and rotor ux linkage will be linked directly to
the stator current components. Assuming the rotor ux linkage is
aligned with the d-axis [9]:

Ki
= KP
s

1+

1
Ti s

= KP

1 + T s
i

Ti s

(25)

dr = r

(15)

where, Kp and Ki represent, respectively, the proportional and

integral gains, and Ti represents the integral time of the current
controller.
The transfer function of the system (DSIM) is presently dened
as follows:

qr = 0

(16)

Gs (s) =

Thus,
r =

r1 + r2
2
r1

where
and r2 : Rotor ux linkages of DSIM-1 and DSIM-2,
respectively.

is

vs

1
K
=
Rs + sLs
1 + ss

(26)

where K = 1/Rs and  s = Ls /Rs are the system gain and time constant,
respectively.
The open-loop transfer function (Gol (s)) of the system is:
Gol (s) = Gc (s) Gs (s) = KP

1 + T s
i

Ti s

K
1 + s s

(27)

Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

129

Fig. 3. IFOC of the DSIMs [6].

where,
T0 =

Fig. 5. Speed PI controller block diagram.

Let
(28)

Gol (s)
1
1

 =
=
1 + Gol (s)
1 + T0 s
1 + Ti /Kp K s

Kp =

s
KT0

(31)

Ki =

Kp
Ti

(32)

Note: The value of T0 is the same as the time constant of the

system  s , [35].
The PI controller of the speed (s ), in the outer-loop shown in
Fig. 5, is implemented in the same way as the current controller.
The transfer function of the system (DSIM) is presently dened
as follows:
Gs (s) =

The closed-loop transfer function (Gcl (s)) of the system is:

Gcl (s) =

(30)

T0 is the time constant of the closed-loop system.

According to Eqs. (25), (28) and (30), gains of the PI controller
are as follows:

Fig. 4. Current PI controller block diagram.

(1 + Ti s) = (1 + s s)

Ti
Kp .K

(29)

1
K
=
1 + ss
kf + sJ

(33)

where K = 1/kf and  s = J/kf are the system gain and time constant,
respectively.

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Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

Table 1
Parameters of the PI controller.

Speed control loop

Currents control loop

Kp

Ki

13.26 [kg m2 /s]

11.96 [H/s]

0.20 [(kg m2 )/s2 ]

379.92 [H/s2 ]

Fig. 6. Fuzzy Logic Controller.

Fig. 8. Product-sum-gravity method.

The relationship between scaling factors and the input and output variables of the controller are as follows:
eN = Ke e, ecN = Kec ec and Uf = UfN
The scaling factors (SFs) Ke and Kec are used to normalize the
error e(t) and error changes ec(t), respectively. Notice that the normalized inputs, (e, ec), remain within the limits of 1 to +1.
The adequate values of Ke , Kec and can be calculated as below:
Ke =

Fig. 7. Block diagram of FLC.

Finally, the gains of the speed controller are calculated as:

Kp =
Ki

s
K T0

Kp
=
Ti

Kec =
(34)
(35)

1
= 3e 4
max

s/rd

s2 /rd

(39)
(40)

where max = k k1
= Uf max = 1380

(41)

The product-sum-gravity method is shown in Fig. 8 [3740].

The product-sum-gravity method for the following fuzzy rules
has the form [33,3840]:

Parameters of the PI controllers are given in Table 1.

5.2. Fuzzy Logic Controller
Fuzzy logic theory, based on the strategy of expert knowledge to
take decision, was rst developed and proposed in [36]. FLC, Fig. 6,
is an interesting alternative to the conventional controllers such
as PI, which may not yield fully acceptable control performance if
the controlled dynamic plant is highly non-linear, uncertain and
operates over a wide range [33, 34].
FLC using the product-sum-gravity inference method consists
of four blocks: fuzzication, knowledge base, inference mechanism
and deffuzication, as shown in Fig. 7 [8].
The input variables of FLC are the error, eN , and changes in error,
ecN , signals. The output variable is generated from fuzzy rule base
and product-sum-gravity method. After the control is computed,
defuzzier is used to obtain the crisp signal.
The speed error and error change signals are dened as:
e (k) = ref (k) (k)

(36)

ec (k) = e (k) e (k 1)

(37)

where presents the rotor mechanical angular speed. The corresponding output (Uf ) is the torque component TemM .
The inputs and the output are related as:
UfN (t) = f (e (t) , ec (t))

1
1
=
= 0.0096
104
N

(38)

If eN
If eN
If eN
If eN

is ANB and ecN is BNB then UfN is UNB .

is APB and ecN is BPB then UfN is UPB .
is ANB and ecN is BPB then UfN is UZE .
is APB and ecN is BNB then UfN is UZE .

where Ai , Bi are the membership functions (MFs) of eN and ecN ,

respectively, and UfN is MF of the output variable of the fuzzy controller.
The membership functions used for input and output fuzzy sets
are presented in Fig. 9.
The next stage after processing the inputs through knowledge
base and inferencing mechanism is that of de-fuzzication. In this
paper, the defuzzication method chosen is the center of gravity
[8,41]. Therefore, the control output UfN can be calculated as:

4

UfN =

k=1

4

 UfN (k) UfN (k)

k=1

 UfN (k)

(42)

where  UfN (k) is the output membership value for kth rule and
UfN (k) denotes the output value of FLC.
The linear control surface of output (UfN ) of the FLC controller
based on only four rules is shown in Fig. 10 with respect to productsum-gravity (PSG) method [38,42,43].

Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

131

Table 2
DSIM parameters used in simulation.
Quantity

Symbol and magnitude

Rated voltage
Rated current
Rated speed
Number of poles
Rated Frequency
Stator resistance
Rotor resistance
Stator inductance
Rotor inductance
Mutual inductance
Moment of inertia
Coefcient of viscous friction

Vn = 220 V
In = 6 A
Nn = 1000 rpm
P=6
f = 50 Hz
Rs = 2.03 
Rr = 3 
Ls =0.0147 H
Lr = 0.0147 H
Lm = 0.2 H
J = 0.06 kg m2
kf = 0.006 N ms/rd

Fig. 9. Membership functions for: (a) eN , (b) ecN and output UfN .

Fig. 11. Response to a stair of reference speed of DSIM-1.

Fig. 10. Control surface of FLC controller.

The benet of using an FLC over a PI or PID controller is that its

control surface is modiable and can provide better performance
than PI/PID controller when the system is (i) of a higher order than
two, (ii) has oscillatory modes and (iii) has a long dead time [42,43].
Fig. 12. Response to a stair of reference speed of DSIM-2.

6. Simulation results and discussion

In order to show the feasibility of the proposed FLC controller,
simulation studies of the drive system based on the DSIMs (Fig. 1)
were carried out using MATLAB/Simulink. Each DSIM is rated at
5.5 kW. Parameters used in the simulation studies are shown in
Table 2 [14]:
Comparative performance with FLC and PI controllers for tests
performed under the same conditions is studied. The response of
each DSIM is observed under different operating conditions such
as a step change in the command speed or a sudden change in the
load.
Results of a set of tests of step changes in speed reference are
shown in Figs. 11 and 12 for the two motors. Variation in the
reference speed of the machines is chosen as: (t --C [0 0.4] sec,
= 50 rad/s) and (t --C [0.4 3] sec, = 100 rad/s). In these tests
the performance of the two controllers is evaluated in terms of
speed response. It can be seen that amplitude of transient oscillations of speed is lower with FLC which also has better rejection of

perturbations. The results demonstrate that the FLC controller

shows improvement, albeit small, in performance compared to that
with the PI controller.
The estimated speeds deviate from the speed references when
the conditions of the each DSIM are different. Steady-state errors in
speed and electromagnetic torque variations are interrelated due
to the motors being connected in parallel and there being coupling
terms between the d-q axes of each motor.
Inuence of the step changes in load reference on electromagnetic torque of each motor is shown in Figs. 13 and 14.
Finally, the simulation results of the DSIMs connected in parallel
associated to IFOC using FLC and PI controllers were also analyzed
regarding load torques and speed variations. These results conrm
that the FLC controller demonstrates a slightly better performance
under changing operating conditions and presents satisfactory performance. Note that in Figs. 11 through 14 the rst 0.4 s show the
response to change in speed reference and after 1.0 s the response
to change in load reference.

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Z. Tir et al. / Electric Power Systems Research 134 (2016) 126133

Fig. 13. Response to step change in load reference for DSIM-1.

Fig. 14. Responses to step change in load reference for DSIM-2.

Table 3
Comparison of performance index.
Controllers

IAE

ISE

ITAE

PI
FLC

14.6
7.2

1100
270

1.25
1.14

Performance with each controller is also analyzed through the

use of Integral Squared Error (ISE), Integral Absolute Error (IAE)
and Integral Time-weighted Absolute Error (ITAE), and the results
described in Table 3 conrm the improved performance with the
FLC.
7. Conclusions
Comparison of the performance of two indirect eld oriented
controlled Double Star Induction Motors connected in parallel to a
single six-phase inverter supply using FLC and PI based speed control is presented. It is observed that in terms of speed reference
tracking of the dual DSIMs, FLC gives a better performance compared to the PI controller. When the motors speed is modied, the
impact on the electromagnetic torque of the motors is important.
The results presented show that the Fuzzy Logic Control with
only four rules can provide an effective solution for devices using
DSIMs in parallel such as electric/hybrid vehicles, traction locomotives, rolling stock traction system and electric propulsion ships.
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